forked from academicpages/academicpages.github.io
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
1 changed file
with
40 additions
and
4 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,47 @@ | ||
| --- | ||
| title: "Stair Traversal Exploration Platform" | ||
| date: 2024 April | ||
| title: "Stair Traversal Exploration Platform" [Work in Progress] | ||
| date: 2024 September to 2024 December | ||
| location: New York, US | ||
| --- | ||
|
|
||
| <br/><img src='/images/step.jpg'> | ||
|
|
||
| Currently collaborating with a team of hard-headed engineers to build a 10 DOF Biped robot(Mark-V). | ||
| The goal of the STEP project is to create and optimize a biped capable of intelligent and dynamic locomotion. | ||
|
|
||
| Visit/follow the [Vault](https://abhinavkumarak56.wixsite.com/project-step-1) for updates regarding the project's progress. | ||
| I lead the new phase of the stair traversal and exploration platform, focusing on building bipedal robots from the ground up using both 3D printing and machining techniques. | ||
|
|
||
| Previously, I collaborated with the inception team towards the end of their tenure and now oversee this new phase. We have successfully developed 2, 4, 6, and 10 DOF robots (with 8 active and 2 passive degrees of freedom). | ||
|
|
||
| Currently, I am spearheading the development of a 12 DOF biped and experimenting with upgrading the existing 6 DOF model to 8 DOF by adding ankle actuation in the pitch direction. | ||
|
|
||
| 1. [12 DOF Bi-Ped] Design Overview: | ||
|
|
||
| The 12 DOF biped will feature 6 DOF per leg, including: | ||
| - Hip: 3 DOF (yaw, roll, pitch). | ||
| - Knee: 1 DOF (pitch). | ||
| - Ankle: 2 DOF (pitch, roll). | ||
|
|
||
| Torso Functionality: | ||
| - The torso will house and secure essential components, including: | ||
| Battery. | ||
| Depth camera. | ||
| Onboard computer. | ||
| Miscellaneous items. | ||
|
|
||
| Manufacturing Techniques: | ||
| - 3D Printing: Chosen for rapid prototyping and quick iteration of designs. | ||
| - Machining: Selected for critical components to ensure durability and longevity. | ||
|
|
||
| Focus on Mobility: | ||
| - Emphasis on creating a biped capable of intelligent and dynamic locomotion. | ||
|
|
||
| Iterative Development Process: | ||
| - Continuous testing and refinement of designs based on performance feedback. | ||
|
|
||
| 2. [Experimentation] | ||
| - Experimenting with the existing 6 DOF biped to convert it into an 8 DOF model. | ||
| - Actuating the 4-bar parallel linkage to enhance ankle movement. | ||
|
|
||
| Visit/follow the [Vault](https://abhinavkumarak56.wixsite.com/project-step-1) to explore the work completed in the past. | ||
|
|
||
| *Please note that our current website is a work in progress. Stay tuned for updates on the project's progress!* |